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refactor(fw_att_control): convert params.c to module.yaml

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Convert 1 parameter file(s) from legacy C format to YAML
module configuration.
This commit is contained in:
Jacob Dahl
2026-03-17 21:55:34 -08:00
committed by Jacob Dahl
parent 963a8757df
commit a0e6e8a240
3 changed files with 187 additions and 256 deletions
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src/modules/fw_att_control/CMakeLists.txt
+2
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@@ -39,6 +39,8 @@ px4_add_module(
FixedwingAttitudeControl.hpp FixedwingAttitudeControl.hpp
fw_wheel_controller.cpp fw_wheel_controller.cpp
MODULE_CONFIG
fw_att_control_params.yaml
DEPENDS DEPENDS
px4_work_queue px4_work_queue
) )
src/modules/fw_att_control/fw_att_control_params.c
-256
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@@ -1,256 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013-2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file fw_att_control_params.c
*
* Parameters defined by the fixed-wing attitude control task
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Thomas Gubler <thomas@px4.io>
*/
/**
* Attitude Roll Time Constant
*
* This defines the latency between a roll step input and the achieved setpoint
* (inverse to a P gain). Smaller systems may require smaller values.
*
* @unit s
* @min 0.2
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_R_TC, 0.4f);
/**
* Attitude pitch time constant
*
* This defines the latency between a pitch step input and the achieved setpoint
* (inverse to a P gain). Smaller systems may require smaller values.
*
* @unit s
* @min 0.2
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);
/**
* Maximum positive / up pitch rate setpoint
*
* @unit deg/s
* @min 0.0
* @max 180
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f);
/**
* Maximum negative / down pitch rate setpoint
*
* @unit deg/s
* @min 0.0
* @max 180
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
/**
* Maximum roll rate setpoint
*
* @unit deg/s
* @min 0.0
* @max 180
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);
/**
* Maximum yaw rate setpoint
*
* @unit deg/s
* @min 0.0
* @max 180
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_Y_RMAX, 50.0f);
/**
* Enable wheel steering controller
*
* Only enabled during automatic runway takeoff and landing.
* In all manual modes the wheel is directly controlled with yaw stick.
*
* @boolean
* @group FW Attitude Control
*/
PARAM_DEFINE_INT32(FW_W_EN, 0);
/**
* Wheel steering rate proportional gain
*
* This defines how much the wheel steering input will be commanded depending on the
* current body angular rate error.
*
* @unit %/rad/s
* @min 0.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f);
/**
* Wheel steering rate integrator gain
*
* This gain defines how much control response will result out of a steady
* state error. It trims any constant error.
*
* @unit %/rad
* @min 0.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f);
/**
* Wheel steering rate integrator limit
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_WR_IMAX, 0.4f);
/**
* Maximum wheel steering rate
*
* This limits the maximum wheel steering rate the controller will output (in degrees per
* second).
*
* @unit deg/s
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_W_RMAX, 30.0f);
/**
* Wheel steering rate feed forward
*
* @unit %/rad/s
* @min 0.0
* @max 10
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_WR_FF, 0.2f);
/**
* Pitch setpoint offset (pitch at level flight)
*
* An airframe specific offset of the pitch setpoint in degrees, the value is
* added to the pitch setpoint and should correspond to the pitch at
* typical cruise speed of the airframe.
*
* @unit deg
* @min -90.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
/**
* Maximum manually added yaw rate
*
* This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode.
* It is added to the yaw rate setpoint generated by the controller for turn coordination.
*
* @unit deg/s
* @min 0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_MAN_YR_MAX, 30.f);
/**
* Maximum manual roll angle
*
* Applies to both directions in all manual modes with attitude stabilization
*
* @unit deg
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
/**
* Maximum manual pitch angle
*
* Applies to both directions in all manual modes with attitude stabilization but without altitude control
*
* @unit deg
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 30.0f);
src/modules/fw_att_control/fw_att_control_params.yaml
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@@ -0,0 +1,185 @@
module_name: fw_att_control
parameters:
- group: FW Attitude Control
definitions:
FW_R_TC:
description:
short: Attitude Roll Time Constant
long: |-
This defines the latency between a roll step input and the achieved setpoint
(inverse to a P gain). Smaller systems may require smaller values.
type: float
default: 0.4
unit: s
min: 0.2
max: 1.0
decimal: 2
increment: 0.05
FW_P_TC:
description:
short: Attitude pitch time constant
long: |-
This defines the latency between a pitch step input and the achieved setpoint
(inverse to a P gain). Smaller systems may require smaller values.
type: float
default: 0.4
unit: s
min: 0.2
max: 1.0
decimal: 2
increment: 0.05
FW_P_RMAX_POS:
description:
short: Maximum positive / up pitch rate setpoint
type: float
default: 60.0
unit: deg/s
min: 0.0
max: 180
decimal: 1
increment: 0.5
FW_P_RMAX_NEG:
description:
short: Maximum negative / down pitch rate setpoint
type: float
default: 60.0
unit: deg/s
min: 0.0
max: 180
decimal: 1
increment: 0.5
FW_R_RMAX:
description:
short: Maximum roll rate setpoint
type: float
default: 70.0
unit: deg/s
min: 0.0
max: 180
decimal: 1
increment: 0.5
FW_Y_RMAX:
description:
short: Maximum yaw rate setpoint
type: float
default: 50.0
unit: deg/s
min: 0.0
max: 180
decimal: 1
increment: 0.5
FW_W_EN:
description:
short: Enable wheel steering controller
long: |-
Only enabled during automatic runway takeoff and landing.
In all manual modes the wheel is directly controlled with yaw stick.
type: boolean
default: 0
FW_WR_P:
description:
short: Wheel steering rate proportional gain
long: |-
This defines how much the wheel steering input will be commanded depending on the
current body angular rate error.
type: float
default: 0.5
unit: '%/rad/s'
min: 0.0
max: 10
decimal: 3
increment: 0.005
FW_WR_I:
description:
short: Wheel steering rate integrator gain
long: |-
This gain defines how much control response will result out of a steady
state error. It trims any constant error.
type: float
default: 0.1
unit: '%/rad'
min: 0.0
max: 10
decimal: 3
increment: 0.005
FW_WR_IMAX:
description:
short: Wheel steering rate integrator limit
type: float
default: 0.4
min: 0.0
max: 1.0
decimal: 2
increment: 0.05
FW_W_RMAX:
description:
short: Maximum wheel steering rate
long: |-
This limits the maximum wheel steering rate the controller will output (in degrees per
second).
type: float
default: 30.0
unit: deg/s
min: 0.0
max: 90.0
decimal: 1
increment: 0.5
FW_WR_FF:
description:
short: Wheel steering rate feed forward
type: float
default: 0.2
unit: '%/rad/s'
min: 0.0
max: 10
decimal: 2
increment: 0.05
FW_PSP_OFF:
description:
short: Pitch setpoint offset (pitch at level flight)
long: |-
An airframe specific offset of the pitch setpoint in degrees, the value is
added to the pitch setpoint and should correspond to the pitch at
typical cruise speed of the airframe.
type: float
default: 0.0
unit: deg
min: -90.0
max: 90.0
decimal: 1
increment: 0.5
FW_MAN_YR_MAX:
description:
short: Maximum manually added yaw rate
long: |-
This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode.
It is added to the yaw rate setpoint generated by the controller for turn coordination.
type: float
default: 30.0
unit: deg/s
min: 0
decimal: 1
increment: 0.5
FW_MAN_R_MAX:
description:
short: Maximum manual roll angle
long: Applies to both directions in all manual modes with attitude stabilization
type: float
default: 45.0
unit: deg
min: 0.0
max: 90.0
decimal: 1
increment: 0.5
FW_MAN_P_MAX:
description:
short: Maximum manual pitch angle
long: Applies to both directions in all manual modes with attitude stabilization
but without altitude control
type: float
default: 30.0
unit: deg
min: 0.0
max: 90.0
decimal: 1
increment: 0.5